Skripsi

PERANCANGAN SISTEM KENDALI PENGHINDAR RINTANGAN PADA ROBOT HUMANOID MENGGUNAKAN PENGENDALI PID DAN SENSOR LIDAR

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Penilaian

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Humanoid robots are one type of robot being developed currently that has the ability to imitate humans, and one of them is the ability to avoid objects when moving so that they can walk properly without hitting anything. So, an obstacle avoidance system for humanoid robots is needed. Therefore, in this research an obstacle avoidance system was developed which was carried out on a prototype. In this research, the obstacle avoidance system applied to the prototype uses a PID controller using the trial and error method. This research also uses the LIDAR A1 sensor, which has a role in identifying surrounding objects and the maximum reading distance can reach 12 meters. The LIDAR A1 sensor is capable of reading objects within a 360° range, which means it is able to detect objects from all sides and this helps the robot to determine whether there is an object or not along the robot's path. The results obtained from testing the distance shown by LIDAR A1 and the actual distance to the object can be categorized as good because the error obtained is relatively small, namely only 3.2%. The results of this research show that PID has good results so that it can be used as a controller in obstacle avoidance systems, proven by several tests when the robot is given an obstacle whose position is changed on each track with values of Kp = 4, Ki = 0.002 and Kd = 10 showing that the robot is capable of avoid obstacles with a small error value. The robot was unable to avoid obstacles twice on obstacle 3 on track C. When compared with a total of 150 obstacles, these two failures indicate that the robot was able to avoid obstacles 148 times.

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Availability

Inventory Code	Barcode	Call Number	Location	Status
2407001212	T140256	T1402562023	Central Library (REFERENS)	Available but not for loan - Not for Loan

Detail Information

Series Title

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Call Number

T1402562023

Publisher

Inderalaya : Prodi Teknik Elektro, Fakultas Teknik Universitas Sriwijaya., 2023

Collation

xv, 67 hlm.; ilus.; 29 cm

Language

Indonesia

ISBN/ISSN

-

Classification

621.316 07

Content Type

Text

Media Type

unmediated

Carrier Type

-

Edition

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Subject(s)

Prodi Teknik Elektro
Alat-alat Kontrol Listrik

Specific Detail Info

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Statement of Responsibility

MURZ

Other version/related

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